'Bachelorette' couple Tayshia Adams, Zac Clark on moment they knew it was love

Tuesday night, fans watched in excitement as Tayshia Adams and Zac Clark got engaged on the season 16 finale of "The Bachelorette."

The 30-year-old podcast host said yes to the 36-year-old addiction specialist's proposal in the final moments of the show, and they rode off into the sunset in their cardboard NYC taxi.

Now, months after filming ended, the couple spoke to "Good Morning America" about when they knew they loved each other, what they learned about themselves on the show, who they think from their season would make a good Bachelor in the future and more. Scroll down for that chat.

GMA: People are loving your engagement, and some are calling it the best in the show's history. What do you remember most about that moment?

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Adams: We were just being ourselves, and that's very kind for them to say that. I remember his proposal -- I really do remember a lot of it. I feel like it was just so genuine and authentic and true to him. He hit on a lot of points that we had, I don't know, just experienced throughout our entire journey. It meant a lot for him to bring that back up and just solidify his feelings for me and validate myself.

Clark: I think that proposal was a testament to us. We both committed to being authentic throughout the entire journey, and I think that's what everyone got to see in that in those final moments.

GMA: Can you pinpoint a moment when each of you knew the other person was going to be the one for you in the end?

Adams: It wasn't until toward the end that I thought he would be the person at the end. I think there were multiple instances where I was like, 'I could really see myself with this man' throughout the journey. I mean, starting as early as our one-on-one. I just think our relationship really grew organically and very naturally. That was something I didn't want to really speed up, if you will, I just want it to happen if it was supposed to happen.

Clark: There was a moment during our overnight where she fell asleep in my arms, and there wasn't this burning need to kind of stay up all night and talk [about] everything. I felt very peaceful and comfortable with where we were at, and I feel like if we felt like there was all this other stuff to talk about, we would have stayed up all night, but it was just this sense of comfort, just kind of sitting there and having her fall asleep. Like, alright, we're good. We're good right now.

GMA: You find out a lot about each other on this journey, but what did you learn about yourself along the way?

Adams: That I just need to continue to trust myself. I think it's really easy to second guess yourself and think about the what ifs and all the negative things that could possibly go wrong, but, at the end of the day, your gut knows, your heart knows, and you just have to follow that and you're good. I think I did just that and, well, it got me him, so I think it worked out well for me.

Clark: Bet on yourself. There's nothing better than betting on yourself and really believing in yourself. This whole thing will definitely challenge you. I'm good at blocking some things out and staying focused on what I need to stay focused on, but I'm human, you know, and feelings come into play -- even after the show. I mean, there's a lot of really good guys there. Tayshia deserves a lot of credit for sticking it out and taking on a lot from all these guys. I think that's kind of been not given enough airtime, the job she did and just taking on a lot from a lot of these different guys.

GMA: You've both been married before. What have you learned from those relationships, and how have you grown as individuals since then that will help you in your life together?

Clark: I was married 11 years ago, so it's been a minute. What I know about that experience is I was not ready to be married. I grew up with this fundamental idea of what marriage was supposed to look like, which is basically you get in a relationship, you buy a house, you have a family and you go on with your life. I was selling myself short. So just having had the time between then and now to really grow as a human being and come into my own, I'm in a much better position to, not just for me, but to be the best partner possible to the other person involved.

Adams: I think I learned that communication is definitely something that needs to be a fundamental piece that is strong between the two people, but also trust and loyalty -- and I think that we have that. That's something that we're working toward every single day, just to better that, because, without that, I don't really know what we have.

GMA: Which suitor from this season would you most like to see as the next Bachelor? After Matt James, of course.

Adams: Oh, boy. I don't know. See, it's a long way down the road...

Clark: Ed!

Adams: Ed! Ed would be great. Love Ed.

Clark: In all seriousness, though, I can tell you that one of the biggest questions I get is what were the other guys like. To a man, they all were unique, but all good guys. And I mean that from the bottom of my heart.

Adams: I agree.

GMA: Any plans for double dates with your fellow season 16 couple, Clare Crawley and Dale Moss?

Adams: That would be so fun. Unfortunately, COVID is still around, so maybe once everything kind of dies down a little bit, and we're able to be out in the open, I'm sure we'll get together. But until then, gotta be safe.